Non balanced copter and accelerometer function

Hi

I have tricopter, 80cm, DT750 motors and  GWS 11x4,7 props, latest APM and Oilpan and software. Today I started with one different propeller APC 9x6. Don't ask why :)

Obviously, that motor with smaller prop had hard times. I was able to hover pretty good. But if I tried hand's off tricopter started to move in direction of that propeller. Why? Ardupilot knows from acc where the "zero" level is so why it won't level itself?

 

I tried something similiar (but with weight not different prop) with my Mikrokopter quad ant it leveled.

Do I have to really have CG in ideal CG point?

 

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Replies

  • you need to adjust your PID values

    increase I a little ;)

This reply was deleted.

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